During the present monitoring period the following research activities within the HUROBIN experiment were carried out:

1. Dataglove, motion tracker and JR3 force/torque sensor integration. The two Matlab S-functions for UDP communication with tracker and dataglove were implemented and integrated in a unique Simulink scheme, including S-function for managing JR3 force/torque sensor placed on the wrist joint.
2. Low level control of the servo motors in the above mentioned Simulink scheme was implemented, along with S-function including communication processes using USB-CAN. The low level communication of the servo motors for implementing an impedence-based control was analyzed.

Task 2 "Dataglove and tracker integration with robotic arm" is completed: Milestone M2 “Dataglove and tracker integration with robotic arm” is achieved. Task 3 "Design and development of control strategy for the robotic platform" represent an ongoing activity aimed at achieving Milestone M3 “Implementation of a control strategy for the cooperative task” (expected on month 43). Task 6 "Dissemination" is ongoing as well.